% Sample time (20kHz)
Ts=1/20000;

% Enviro
Vdc = 12;

% Motor
PolePairs = 7; % Rimfire
Rs=0.0153;
Ls=4.04e-6;

% Encoder
EncoSlits = 500;
CalibratedAngle = 74; % encoder pulses from direct axis (A, 0deg) and index pulse! % Anheim
 
% Load
Jadd = 0.0;
%Jadd = 0.00003;

% Controllers
Kpcurr = 0.3;
Kicurr = 900;
Kpspeed = 0.0002;
Kispeed = 0;